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GCS_MAVLink: better handling of high severity STATUSTEXT messages

This commit is contained in:
Andrew Tridgell 2014-08-07 12:54:28 +10:00
parent 3b62592b26
commit 786661ca2b
1 changed files with 6 additions and 4 deletions
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10
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -630,15 +630,17 @@ void GCS_MAVLINK::handle_param_set(mavlink_message_t *msg, DataFlash_Class *Data
void
GCS_MAVLINK::send_text(gcs_severity severity, const char *str)
{
if (severity == SEVERITY_LOW) {
if (severity != SEVERITY_LOW &&
comm_get_txspace(chan) >=
MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_MSG_ID_STATUSTEXT_LEN) {
// send immediately
mavlink_msg_statustext_send(chan, severity, str);
} else {
// send via the deferred queuing system
mavlink_statustext_t *s = &pending_status;
s->severity = (uint8_t)severity;
strncpy((char *)s->text, str, sizeof(s->text));
send_message(MSG_STATUSTEXT);
} else {
// send immediately
mavlink_msg_statustext_send(chan, severity, str);
}
}